US7457699B2 - Technique for detecting truck trailer for stop and go adaptive cruise control - Google Patents
Technique for detecting truck trailer for stop and go adaptive cruise control Download PDFInfo
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- US7457699B2 US7457699B2 US10/761,580 US76158004A US7457699B2 US 7457699 B2 US7457699 B2 US 7457699B2 US 76158004 A US76158004 A US 76158004A US 7457699 B2 US7457699 B2 US 7457699B2
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000003044 adaptive effect Effects 0.000 title abstract description 9
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000000977 initiatory effect Effects 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims 4
- 238000005259 measurement Methods 0.000 claims 2
- 230000004048 modification Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/93185—Controlling the brakes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9319—Controlling the accelerator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9325—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles for inter-vehicle distance regulation, e.g. navigating in platoons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
Definitions
- the present invention is generally directed to detecting objects and, more specifically, to detecting a truck trailer using stop and go adaptive cruise control.
- FLSs forward looking systems
- RDSs rear detection systems
- SDSs side detection systems
- ACC adaptive cruise control
- a typical ACC system uses a sensor (e.g., a radar or laser sensor), mounted at the front of a host motor vehicle, to detect objects in the forward path of the vehicle.
- the ACC system typically compares the projected path of the vehicle to the object location such that objects on the roadside or in different lanes are eliminated. That is, if the lane ahead is clear, the ACC system maintains a set vehicle speed. However, when a slower motor vehicle is detected that is in the path of the host motor vehicle, the ACC system maintains a driver selected distance (using throttle control and/or limited braking) between the vehicles.
- a typical ACC system uses a mechanically scanned radar sensor, which normally improves the ability of the system to detect targets (e.g., other vehicles) in heavy traffic.
- targets e.g., other vehicles
- ACC systems generally determine the range of a detected object, as well as the relative speed of the detected object.
- a stop and go ACC system provides motor vehicle control down to approximately zero speed, which allows the ACC system to be utilized in urban environments and during various traffic conditions, e.g., during traffic jams. It should also be appreciated that a stop and go ACC system requires operation at very low speeds and, thus, necessitates relatively accurate detection of leading motor vehicles at close range such that safe following and stopping distances can be maintained.
- truck trailers generally provide multiple radar reflections at close range, e.g., approximately 20 meters and under.
- the sensor of the ACC system may track an axle of the trailer (instead of the rear of the trailer), as the sensor has a limited vertical field of view at close proximity to the rear of the trailer.
- a typical range differential between a rear of a truck trailer and a rear axle of the trailer is about 3.5 meters.
- stop and go ACC systems a significant collision risk occurs when a sensor is misreporting the true range by 3.5 meters, which can occur when the sensor reports the range to the rear axle of the trailer instead of the range to a rear of the trailer.
- ACC adaptive cruise control
- the present invention is directed to a technique for providing close range detection, e.g., tractor trailer detection, for a motor vehicle.
- the technique is implemented by determining an initial range from a motor vehicle to a target, e.g., a tractor trailer. Then, the technique determines whether a range rate of the target is above a predetermined rate. For example, a range rate less than a threshold level of zero indicates that a host motor vehicle is closing in on a lead motor vehicle.
- the technique determines whether the initial range to the target is less than a current range to the target. If so, the technique provides an adjusted range, which is then utilized to control operation of the motor vehicle.
- FIG. 1 is an electrical block diagram of an exemplary object sensing system, according to one embodiment of the present invention
- FIG. 2A is a diagram depicting a lead motor vehicle and a trailing motor vehicle with a relatively long distance between the vehicles;
- FIG. 2B is a diagram depicting the lead motor vehicle and the trailing motor vehicle with a relatively short distance between the vehicles;
- FIG. 3 is a flow diagram of an exemplary routine for providing close range truck detection for a stop and go adaptive cruise control (ACC) system.
- ACC stop and go adaptive cruise control
- FIGS. 4A-4B are graphs depicting various range and range rate information associated with a stop and go ACC system installed within a motor vehicle.
- an ACC system initially determines an initial range from the motor vehicle to a target, such as a leading truck trailer. Next, the system determines whether a range rate of the target is above a predetermined rate.
- the system determines whether the initial range to the target is less than a current range to the target. When the initial range to the target is less than the current range, the system provides an adjusted range that is utilized to control operation of the motor vehicle. The system adds a predetermined offset to the adjusted range when the range rate is above a predetermined target rate.
- the system compares a currently measured range to a previously measured range (effectively differentiating the range signal and making an instantaneous range rate calculation). This calculated range rate is compared with a measured range rate. If a significant deviation exists such that the calculated range rate yields a positive value and the measured range rate is a negative value, a range/range rate inconsistency is indicated and the system decides that a potential truck trailer has been detected.
- the present invention takes advantage of the fact that a radar return signal or centroid has the tendency to ‘slide’ along a detected object that is of longitudinal orientation, such as the rear underside of a truck trailer.
- a flag is set to indicate to the vehicle control algorithm that a potential truck trailer has been detected and, accordingly, an adjusted range is provided that is utilized to control the operation of the motor vehicle.
- the system may subtract a predetermined offset from a current range to provide the adjusted range. In this case, the system adds the predetermined offset back to the adjusted range when the range rate is above a predetermined target rate.
- the predetermined offset may be set to about 5 meters, the predetermined target rate may be about 0.5 meters per second and the predetermined range rate may be about 0.0 meters per second. According to one embodiment, the predetermined offset is only subtracted from the current range when the current range is less than about 20 meters.
- An ACC system constructed according to the present invention may also provide an alarm such that a driver of the motor vehicle can take an appropriate action when the adjusted range is less than a desired minimum distance.
- the operation of the motor vehicle may be controlled by initiating deceleration by a throttle system of the motor vehicle and/or initiating braking by the brake system of the motor vehicle.
- FIG. 1 illustrates an exemplary block diagram of an object sensing system 100 , according to one embodiment of the present invention.
- the object sensing system 100 includes a processor 102 coupled to a memory subsystem 104 , a front sensor 106 , an alarm 108 , a throttle subsystem 110 and a brake subsystem 112 .
- the memory subsystem 104 generally includes an application appropriate amount of volatile memory (e.g., dynamic random access memory (DRAM)) and non-volatile memory (e.g., flash memory, electrically erasable programmable read only memory (EEPROM)).
- processor executable code for providing close range truck detection for a motor vehicle, is stored within the non-volatile memory of the memory subsystem 104 of the object sensing system 100 .
- the processor 102 provides control signals to and receives data from the sensor 106 . In response to the data from the sensor 106 , the processor 102 may provide control signals to the throttle subsystem 110 and/or the brake subsystem 112 . In addition, the processor 102 may provide control signals to the alarm 108 causing it to provide visual and/or audible feedback to a driver of an associated motor vehicle.
- the senor 106 of the sensing system 100 , includes a radar sensor that is mounted at the front of the motor vehicle.
- the sensor 106 has a maximum range of about one-hundred fifty meters.
- the radar sensor may implement a frequency modulated continuous wave (FMCW) signal of about 76 GHz.
- FMCW frequency modulated continuous wave
- a number of suitable radar sensors are manufactured and made commercially available by Delphi Delco Electronics of Kokomo, Ind. When a linear frequency modulation technique is implemented, the range to a detected object is normally ascertained by determining a frequency differential between a transmitted sensor scan signal and an associated received return signal.
- the processor 102 When the sensor scan signal is pulsed, the processor 102 normally examines the output of the sensor 106 in a plurality of windows, with each window corresponding to a particular time delay (i.e., range). Each window includes either a digital ‘0’ or a digital ‘1’, depending upon whether a reflection was received by the sensor 106 during a time period that corresponds to a particular window. In this manner, the processor 102 may determine the distance to a sensed object.
- a time delay i.e., range
- the object sensing system 100 provides both qualitative audible and visual warnings to a driver of the vehicle.
- the alarm 108 can represent a visual indicator, an audible indicator, or both.
- a plurality of light emitting diodes (LEDs) can be included within the alarm 108 .
- An exemplary visual indicator includes LEDs that indicate the distance to an object—when all of the LEDs are lit, the object is at the closest point to the front of the vehicle.
- FIGS. 2A and 2B depict a trailing motor vehicle 10 and a leading tractor trailer 20 at a relatively long range (i.e., a distance greater than 20 meters) and a relatively close range (i.e., a distance less than 20 meters), respectively.
- the sensor 106 emits radar scan signals that are reflected from a back of the tractor trailer 20 .
- the scan signals provided by the sensor 106 at close range may, due to the vertical limitations on the sensor 106 , indicate the distance to the rear axle of the tractor trailer 20 , which can be about 3.5 meters more than the distance to the back of the tractor trailer 20 .
- a reported distance may fluctuate between reporting the distance to the back of the trailer and the distance to the rear axle of the trailer.
- ACC stop and go adaptive cruise control
- FIG. 3 depicts a routine 300 that is utilized for close range truck detection for a stop and go ACC system.
- the routine 300 is initiated in step 302 , at which point control transfers to decision step 304 .
- the routine 300 which is executed by processor 102 , determines whether a valid primary target (i.e., an in-path lead motor vehicle) is detected by the system 100 .
- the system 100 may detect a valid primary target in a number of ways. For example, the system 100 may consider a detected object as a valid in-path object when it meets the criteria of Delphi's ACC path prediction algorithm.
- This algorithm considers host vehicle state parameters such as vehicle speed and yaw rate, as well as properties of the detected object such as range, range rate and lateral position to determine if the detected object is a valid primary target. If the algorithm indicates the detected object is in a path of the host vehicle, the object is considered an in-path object. If the object is the closest in-path object, it is flagged as the primary in-path object and considered a valid primary target and the ACC system 100 controls vehicle throttle and braking based upon the target.
- step 306 the processor 102 determines whether a range rate of the target is increasing, e.g., at a rate greater than 0.5 meters per second sampled every 100 milliseconds. If so, control transfers from step 306 to step 316 , where the processor 102 sets a truck_detected flag to false to indicate that the object in front of the motor vehicle is pulling away.
- the routine 300 may examine a number of factors to determine whether the range to the target is increasing when the range rate is negative. For example, the routine 300 may determine: whether a current range to a target is less than 20 meters; whether a range rate of the target is less than 0.0 meters per second; if a current range to the target minus a previous range to the target is greater than 0.5 meters; and if the previous range is valid (e.g., the previous range is greater than 0.1 meters). If the range is increasing in step 308 , control transfers from step 308 to step 310 , where the processor 102 sets a truck_detected flag to true before passing control to step 312 . Otherwise, control transfers from step 308 to step 314 .
- the processor 102 subtracts a predetermined offset, e.g., a 5 meter offset, from a primary target range and sets the truck_range_offset_used flag to true before terminating the routine 300 in step 314 .
- a predetermined offset e.g., a 5 meter offset
- the primary target range may be reduced by ways other than subtraction. For example, the primary target range may be reduced by multiplying the primary target range by a number less than one or using a nonlinear look up table.
- step 316 the processor 102 determines whether the truck_range_offset_used flag is true in step 318 . If the truck_range_offset_used flag is true, control transfers to step 320 . Otherwise, control transfers to step 314 , where the routine 300 terminates.
- step 320 the processor 102 restores the predetermined offset, e.g., a 5 meter offset that was used in step 312 , to the primary target range and sets the truck_range_offset_used flag to false, before transferring control to step 314 .
- the routine 300 may repeat approximately every 100 mS while the motor vehicle 10 is in operation.
- a routine for implementing the present invention attempts to identify truck targets where a range to the truck is unstable, when a host motor vehicle is following or stopping relatively close, e.g., within 20 meters, behind a truck trailer.
- range jumps may be attributable to radar reflections from various surfaces on a back of and under, e.g., a rear axle, the truck trailer.
- the routine sets a flag to indicate that a reported distance is erroneous, when the reported distance is less than a threshold distance. The condition is indicated when the range increases suddenly (and correspondingly the calculated differentiated range rate is positive) and the range rate (provided by the radar sensor) continues as a stable negative value.
- the flag is set.
- the flag is cleared when the target pulls away from the host motor vehicle with a range rate greater than 0.5 meters per second.
- the stop and go ACC system of the host motor vehicle responds with the knowledge that the target is closer than reported.
- This module sets a flag in the event of a host vehicle following closely behind a truck whereby a range can behave discontinuously as a centroid of a radar return signal does not firmly lock to any one portion on the back and/or under the truck during approach.
- a flag is used as the host closes in on the truck so that radar does not overestimate the range to truck.
- the condition can be identified when the range takes a sudden increase while the range rate continues to be a stable negative value as the range rate stays negative. This is a physical contradiction so such a condition will likely indicate the presence of a roadway vehicle that the host vehicle should approach cautiously, whether a truck trailer or similar vehicle.
- the flag f_truck_detected is set.
- the flag is cleared when the truck accelerates away with a range rate greater than 0.5 m/s. While the flag is set, the vehicle takes appropriate action being aware that the truck is physically closer than reported by the radar.
- the module sets a flag in the event a host motor vehicle is following closely behind a target, e.g., a truck trailer, where the range can behave discontinuously as the centroid of the radar signal does not firmly lock to any one portion on the back and/or under the target.
- the flag is used to prevent the radar from over-estimating the range from the host motor vehicle to the target, and this condition can be identified when the range suddenly increases while the range rate continues to be a stable negative value as the host motor vehicle closes in on the target. This occurrence is physically contradicting and can be readily identified when the target range is less than about 20 meters and the range increases by about 0.5 meters or more while the host motor vehicle is closing in on the target.
- the flag is cleared when the target pulls away with a range rate greater than about 0.5 meters/second.
- the host motor vehicle is controlled to take an appropriate action with the knowledge that the host motor vehicle is closer to the target than indicated.
- FIG. 4A depicts an exemplary graph 410 illustrating a range signal 412 , a range rate signal 414 , truck flags 416 and a delta range signal 418 as seen by a host motor vehicle that is approaching a stopped truck trailer.
- the truck flags 416 which range between a digital one and a digital zero, provide an indication that a lead truck has been detected.
- FIG. 4B depicts yet another exemplary graph 420 illustrating a range signal 422 , a range rate signal 424 , truck flags 426 and a delta range signal 428 as seen by a host motor vehicle that is following a truck trailer.
- the truck flags 426 provide an indication that a lead truck has been detected and when the truck flag signal is high a range offset modification is implemented.
Abstract
Description
/*----------------+ |
| INCLUDES | |
-------------------*/ |
/* Algorithm Compiler Defs */ |
#include “rcp_defs.h” |
/*--------------+ |
| GLOBALS | |
----------------*/ |
/* Externals */ |
#include “rflr.h” |
#include “rcp_sys.h” |
/********************************************************* |
ROUTINE: FlagDetectRangeInconsistency |
*********************************************************/ |
void FlagDetectRangeInconsistency (char target_id) |
{ |
float current_range, prev_range; |
float current_rrate; |
unsigned char tgt_status; |
FLR_TRK *p_trk; /* structure for radar track data */ |
if ((target_id > 0 ) && (target_id < = MAX_FLR_TRKS)) |
{ |
/* Target is valid so get pointer to pick up range, range rate and |
status values */ |
p_trk = &flr_trk[target_id−1]; /* global flr_trk */ |
current_rrate = p_trk->range_rate; |
current_range = p_trk->range; |
tgt_status = p_trk->status; |
/* Reset truck_detected flag when target accelerates away or |
switches to new target */ |
if (current_rrate > 0.5) |
{ |
p_trk->f_truck_detected = FALSE; |
} |
if((current_rrate< =0.5)&&(p_trk->status>NEW_TGT)) |
{ |
/* If target is new or mature and not moving away from host, |
determine if range discontinuity is present */ |
prev_range = p_trk->range_buf[1]; |
if ((current_range < 20) && ((current_range − prev_range) |
>0.5)&&(prev_range>0.1)&&(current_rrate<−0.2)) |
{ |
p_trk->f_truck_detected = TRUE; |
} |
} |
} |
} /* end FlagDetectRangeInconsistency */ |
Claims (11)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/761,580 US7457699B2 (en) | 2004-01-21 | 2004-01-21 | Technique for detecting truck trailer for stop and go adaptive cruise control |
AT05075035T ATE385220T1 (en) | 2004-01-21 | 2005-01-07 | METHOD AND DEVICE FOR DETECTING A MOTOR VEHICLE TRAILER FOR ADAPTIVE DRIVING SPEED CONTROLS IN STOP AND GO TRAFFIC |
DE602005004575T DE602005004575T2 (en) | 2004-01-21 | 2005-01-07 | Method and device for detecting a motor vehicle trailer for adaptive cruise control in stop and go traffic |
EP05075035A EP1591298B1 (en) | 2004-01-21 | 2005-01-07 | Technique for detecting truck trailer for stop and go adaptive cruise control |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/761,580 US7457699B2 (en) | 2004-01-21 | 2004-01-21 | Technique for detecting truck trailer for stop and go adaptive cruise control |
Publications (2)
Publication Number | Publication Date |
---|---|
US20050159875A1 US20050159875A1 (en) | 2005-07-21 |
US7457699B2 true US7457699B2 (en) | 2008-11-25 |
Family
ID=34750200
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/761,580 Active 2025-06-08 US7457699B2 (en) | 2004-01-21 | 2004-01-21 | Technique for detecting truck trailer for stop and go adaptive cruise control |
Country Status (4)
Country | Link |
---|---|
US (1) | US7457699B2 (en) |
EP (1) | EP1591298B1 (en) |
AT (1) | ATE385220T1 (en) |
DE (1) | DE602005004575T2 (en) |
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US20140002294A1 (en) * | 2010-09-16 | 2014-01-02 | Jaguar Cars Limited | Range determination apparatus and method |
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US20100238066A1 (en) * | 2005-12-30 | 2010-09-23 | Valeo Raytheon Systems, Inc. | Method and system for generating a target alert |
DE102008040631A1 (en) * | 2008-07-23 | 2010-01-28 | Robert Bosch Gmbh | Method for distance and speed control of a motor vehicle and distance sensor |
WO2014107203A2 (en) * | 2012-10-04 | 2014-07-10 | Hooper William W | Proximity sensor |
JP5983572B2 (en) | 2013-09-20 | 2016-08-31 | 株式会社デンソー | Undercover detection device |
DE102014201105A1 (en) * | 2014-01-22 | 2015-07-23 | Bayerische Motoren Werke Aktiengesellschaft | Longitudinal control system for a motor vehicle |
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Also Published As
Publication number | Publication date |
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ATE385220T1 (en) | 2008-02-15 |
EP1591298A2 (en) | 2005-11-02 |
DE602005004575D1 (en) | 2008-03-20 |
EP1591298B1 (en) | 2008-01-30 |
DE602005004575T2 (en) | 2009-01-29 |
EP1591298A3 (en) | 2006-06-21 |
US20050159875A1 (en) | 2005-07-21 |
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